A mowing robot

Abstract

The embodiment of the application provides a mowing robot, and relates to the technical field of robots.The mowing robot comprises a mower body, a driving wheel is installed at the bottom of the mower body; a main cutter head is hung on the bottom shell of the mower body, the main cutter head has a reserved area between the edge of the projection of the bottom shell and the edge of the bottom shell; a secondary cutter head is hung on the bottom shell of the mower body and is located on at least one side of the main cutter head along a first direction, the first direction is horizontally perpendicular to a second direction of the forward movement of the mowing robot; a protection plate is arranged on the side of the secondary cutter head away from the main cutter head along the first direction, the two ends of the protection plate along the second direction respectively exceed the two ends of the secondary cutter head along the second direction, the bottom of the protection plate is lower than the bottom of the secondary cutter head, and the top of the protection plate is higher than the top of the secondary cutter head. The mowing robot can reduce the residual amount of grass plants on the edge of the lawn while meeting the safety specifications.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a lawn-mowing robot. Background Technology

[0002] In related technologies, due to safety regulations, a pre-set clearance area is usually required between the cutting disc of a lawnmower and the peripheral shell of the lawnmower as a safety distance to meet the requirements of safety standard testing.

[0003] However, during operation, the cutting disc of the lawnmower robot has difficulty cutting grass in the gaps. Especially when the lawnmower robot is cutting along the edge of the lawn, some grass at the edge is located in the gaps, and the cutting disc has difficulty cutting that part of the grass. As a result, the cutting range of the lawnmower robot cannot cover the edge of the lawn, leaving grass behind at the edge. Utility Model Content

[0004] The purpose of this application is to provide a lawnmower robot that reduces the amount of grass residue at lawn edges while meeting safety regulations. The specific technical solution is as follows:

[0005] This application provides a lawnmower robot, including:

[0006] A lawnmower body, wherein drive wheels are mounted on the bottom of the lawnmower body;

[0007] The main blade disc is mounted on the bottom housing of the lawnmower body, and there is a gap between the edge of the projection of the main blade disc onto the bottom housing and the edge of the bottom housing.

[0008] A secondary blade disc is mounted on the bottom housing of the lawnmower body and is located on at least one side of the main blade disc along a first direction, the first direction being horizontal and perpendicular to the second direction of the lawnmower robot's forward movement;

[0009] A protective plate is disposed on the side of the secondary cutter head away from the main cutter head along the first direction. The two ends of the protective plate along the second direction extend beyond the two ends of the secondary cutter head along the second direction. The bottom of the protective plate is lower than the bottom of the secondary cutter head, and the top of the protective plate is higher than the top of the secondary cutter head.

[0010] In some embodiments of this application, the lawnmower robot further includes: a lifting mechanism;

[0011] One end of the lifting mechanism is fixed to the peripheral housing of the lawnmower body, and the other end is connected to the protective plate.

[0012] In some embodiments of this application, the lifting mechanism includes: a lifting motor and a transmission crank;

[0013] The lifting motor is fixed to the peripheral housing, and the output shaft of the lifting motor is fixedly connected to the first end of the transmission crank; the second end of the transmission crank is connected to the protective plate.

[0014] The second end of the transmission crank can rotate around the first end under the drive of the lifting motor.

[0015] In some embodiments of this application, the second end of the transmission crank is provided with a crank fixing head; the protective plate is provided with a crank mounting groove;

[0016] The crank fixing head extends into the crank mounting groove;

[0017] The protective plate is also provided with guide grooves; the peripheral housing is provided with mounting heads;

[0018] The mounting head extends into the guide groove.

[0019] In some embodiments of this application, the angle between the extension direction of the guide groove and the second direction is greater than 0° and less than 90°.

[0020] In some embodiments of this application, the lawnmower robot further includes: a secondary blade lifting device;

[0021] The auxiliary cutter head lifting device includes: a mounting bracket and a lifting module mounted on the mounting bracket;

[0022] The secondary cutter head cutting motor is slidably connected to the mounting bracket in the vertical direction;

[0023] The lifting module can drive the secondary cutter head to move up and down in the vertical direction.

[0024] In some embodiments of this application, the mounting bracket includes: a lifting guide rail extending in a vertical direction; the secondary blade cutting motor is slidably connected to the lifting guide rail;

[0025] The lifting module includes: a lifting motor, a driving gear, a driven gear, and a lifting screw extending in a vertical direction; the driving gear and the driven gear are mounted on the mounting bracket; the driving gear and the driven gear mesh with each other; the output shaft of the lifting motor is coaxially and fixedly connected to the driving gear; the lifting screw is coaxially and fixedly connected to the driven gear.

[0026] The auxiliary cutter head cutting motor is equipped with a threaded drive part; the threaded drive part is threadedly engaged with the lifting screw.

[0027] In some embodiments of this application, the gap between the main cutter head and the secondary cutter head along the first direction is ≤5mm.

[0028] In some embodiments of this application, the protective plate has a clearance notch that conforms to the shape of the drive wheel on the side near the drive wheel.

[0029] In some embodiments of this application, the number of secondary cutterheads is two;

[0030] The two auxiliary cutter discs are respectively disposed on both sides of the main cutter disc along the first direction.

[0031] Beneficial effects:

[0032] This application provides a lawnmower robot, in which a main cutter disc and a secondary cutter disc are arranged at the bottom of the robot body, with the secondary cutter disc located on at least one side of the main cutter disc along a first direction. That is, the secondary cutter disc is located in the open area between the edge of the main cutter disc and the edge of the bottom shell. Thus, when the lawnmower robot cuts along the edge of the lawn, the main and secondary cutter discs arranged along the first direction can simultaneously cut the grass at the lawn edge, thereby reducing the amount of grass residue at the lawn edge.

[0033] Meanwhile, a protective plate is installed on the side of the secondary cutter head away from the main cutter head along the first direction. The two ends of the protective plate extend beyond the two ends of the secondary cutter head along the second direction, with the top of the protective plate higher than the top of the secondary cutter head and the bottom lower than the bottom of the secondary cutter head. In other words, the projection of the secondary cutter head along the first direction onto the protective plate is entirely within the area covered by the protective plate. In this way, the protective plate isolates the secondary cutter head from the external environment of the mowing robot, thus meeting safety regulations.

[0034] Compared to related technologies where lawnmowers only have a single blade, the lawnmower provided in this application effectively increases its cutting range by adding a secondary blade. When the lawnmower provided in this application cuts along the edge of the lawn, the secondary blade cuts the grass in the area between the main blade and the surrounding shell, effectively reducing the amount of grass residue at the lawn edge. Furthermore, the protective plate isolates the secondary blade from the external environment to meet safety regulations.

[0035] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0037] Figure 1 A bottom view of the lawnmower robot provided in this application;

[0038] Figure 2 Another structural schematic diagram of the lawnmower robot provided in this application;

[0039] Figure 3 A schematic diagram of the structure of the lawnmower robot provided in this application with the protective plate in the retracted state;

[0040] Figure 4 A schematic diagram of the structure of the lawnmower robot provided in this application with the protective plate in a protected state;

[0041] Figure 5 A schematic diagram of the lifting mechanism of the lawnmower robot provided in this application;

[0042] Figure 6 A schematic diagram of the secondary blade lifting device of the lawnmower robot provided in this application;

[0043] Figure 7 The structural diagram of the lifting screw of the secondary blade disc lifting device of the lawnmower robot provided in this application is not shown.

[0044] Figure label:

[0045] The lawnmower body 1, the bottom housing 11, the peripheral housing 12, and the mounting head 121;

[0046] Main cutter head 21, secondary cutter head 22, secondary cutter head cutting motor 221, thread transmission unit 2211;

[0047] Protective plate 3, crank mounting groove 31, guide groove 32, clearance notch 33;

[0048] Lifting mechanism 4, lifting motor 41, transmission crank 42, crank fixing head 421;

[0049] Sub-cutter head lifting device 5; mounting bracket 51, lifting guide rail 511, lifting module 52, lifting motor 521, driving gear 522, driven gear 523, lifting screw 524;

[0050] 6 drive wheels, 7 swivel wheels;

[0051] First direction X, second direction Y. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0053] In related technologies, to cut the edges of lawns, the cutting disc is typically designed to be movable, moving outwards a certain distance to cut as much grass as possible when edge cutting is needed. However, this solution requires a sufficient safety distance to meet safety regulations, and there are still situations where it is difficult to cut grass at the lawn edges. Furthermore, the cutting height cannot be adjusted during edge cutting, failing to meet users' different cutting height requirements.

[0054] Alternatively, related technologies may involve attaching a nylon rope mowing module to the lawnmower robot. However, the mowing module is limited by the size of the cutting section and the power of the motor, resulting in poor mowing effect and extremely high requirements for the grass species planted on the lawn.

[0055] This application provides a lawnmower robot, such as Figure 1 and Figure 2 As shown, Figure 1 A bottom view of the lawnmower robot provided in this application; Figure 2 This is a structural schematic diagram of the lawnmower robot provided in this application from another perspective. The lawnmower robot includes: a lawnmower body 1, with drive wheels 6 mounted on the bottom of the lawnmower body 1; a main blade disc 21, which is hung on the bottom shell 11 of the lawnmower body 1, with a gap between the edge of the projection of the main blade disc 21 onto the bottom shell 11 and the edge of the bottom shell 11; a secondary blade disc 22, which is hung on the bottom shell 11 of the lawnmower body 1 and located on at least one side of the main blade disc 21 along a first direction X, the first direction X being horizontal and perpendicular to the second direction Y of the lawnmower robot's forward movement; and a protective plate 3, which is disposed on the side of the secondary blade disc 22 away from the main blade disc 21 along the first direction X, with both ends of the protective plate 3 extending beyond both ends of the secondary blade disc 22 along the second direction Y, the bottom of the protective plate 3 being lower than the bottom of the secondary blade disc 22, and the top of the protective plate 3 being higher than the top of the secondary blade disc 22.

[0056] In this embodiment, a main blade disc 21 and a secondary blade disc 22 are provided at the bottom of the lawnmower body 1. The secondary blade disc 22 is located on at least one side of the main blade disc 21 along the first direction X. That is, the secondary blade disc 22 is located in the open area between the edge of the main blade disc 21 and the edge of the bottom shell 11. In this way, when the lawnmower robot cuts along the edge of the lawn, the main blade disc 21 and the secondary blade disc 22, arranged along the first direction X, can simultaneously cut the grass at the edge of the lawn, thereby reducing the amount of grass residue at the edge of the lawn.

[0057] Meanwhile, a protective plate 3 is provided on the side of the secondary blade disc 22 away from the main blade disc 21 along the first direction X. The two ends of the protective plate 3 extend beyond the two ends of the secondary blade disc 22 along the second direction Y. The top of the protective plate 3 is higher than the top of the secondary blade disc 22, and the bottom is lower than the bottom of the secondary blade disc 22. In other words, the projection of the secondary blade disc 22 along the first direction X onto the protective plate 3 is completely within the coverage area of ​​the protective plate 3. The minimum distance between the secondary blade disc 22 and the surrounding outer shell is no more than 10mm. In this way, the protective plate 3 can isolate the secondary blade disc 22 from the external environment of the mowing robot, thereby meeting safety regulations.

[0058] Compared to related technologies where lawnmowers only have one blade, the lawnmower provided in this application effectively increases its cutting range by adding a secondary blade 22. When the lawnmower provided in this application cuts along the edge of the lawn, the secondary blade 22 cuts the grass in the area between the main blade 21 and the peripheral outer shell 12, effectively reducing the amount of grass residue at the lawn edge. Furthermore, the protective plate 3 isolates the secondary blade 22 from the external environment to meet safety regulations. In actual production, the size of the secondary blade is usually smaller than that of the main blade.

[0059] In some embodiments, such as Figure 1 and Figure 2 As shown, a caster wheel 7 can be installed on the front side of the lawnmower so that the lawnmower can turn under the guidance of the caster wheel 7.

[0060] In some implementations of this application, such as Figure 1 As shown, the gap between the main cutter head 21 and the secondary cutter head 22 along the first direction X is ≤5mm. This ensures that the gap between the main cutter head 21 and the secondary cutter head 22 is small enough to prevent gaps during cutting, thus avoiding grass from leaking through the gap between the main cutter head 21 and the secondary cutter head 22 and causing grass residue.

[0061] In some embodiments of this application, there are two secondary cutter heads 22; the two secondary cutter heads 22 are respectively arranged on both sides of the main cutter head 21 along the first direction X.

[0062] In this embodiment, two secondary blade discs 22 can be installed on the lawnmower robot, symmetrically arranged on both sides of the main blade disc 21 along the first direction X. This allows the lawnmower robot to cut the edges of the lawn from both sides, reducing the need to adjust the robot's direction of travel and thus improving cutting efficiency.

[0063] Of course, such as Figure 1 and Figure 2 As shown, the lawnmower robot can be equipped with only one secondary blade disc 22, which can be set on the left or right side of the main blade disc 21 along the first direction X, depending on actual needs.

[0064] In some implementations of this application, such as Figures 3 to 5 As shown, Figure 3 A schematic diagram of the structure of the lawnmower robot provided in this application with the protective plate in the retracted state; Figure 4 A schematic diagram of the structure of the lawnmower robot provided in this application with the protective plate in a protected state; Figure 5 This is a schematic diagram of the lifting mechanism of the lawnmower robot provided in this application. The lawnmower robot also includes: a lifting mechanism 4; one end of the lifting mechanism 4 is fixed to the peripheral housing 12 of the lawnmower body 1, and the other end is connected to the protective plate 3.

[0065] In this embodiment, the protective plate 3 is mounted on the lawnmower robot in a height-adjustable manner. Driven by the lifting mechanism 4, the protective plate 3 can be raised and lowered vertically. The protective plate 3 can be parallel to the peripheral housing 12 of the lawnmower body 1 to avoid interference with the lawnmower body 1 during its raising and lowering process. In actual use, when maintenance is required on the secondary blade disc 22 or the main blade disc 21, the protective plate 3 can be raised to expose the main blade disc 21 and the secondary blade disc 22, facilitating their maintenance and inspection.

[0066] In some implementations of this application, such as Figures 3 to 5 As shown, the lifting mechanism 4 includes a lifting motor 41 and a transmission crank 42; the lifting motor 41 is fixed to the peripheral housing 12, and the output shaft of the lifting motor 41 is fixedly connected to the first end of the transmission crank 42; the second end of the transmission crank 42 is connected to the protective plate 3; the second end of the transmission crank 42 can rotate around the first end under the drive of the lifting motor 41.

[0067] In this embodiment, the transmission crank 42 is driven to rotate by the lifting motor 41, so that the second end of the transmission crank 42 away from the lifting motor 41 can drive the protective plate 3 to rise and fall. When the protective plate 3 is raised, it is in a retracted state, exposing the main blade disc 21 and the secondary blade disc 22. When the protective plate 3 is lowered, it is in a protective state, isolating the secondary blade disc 22 from the external environment, thereby playing a safety protection role and ensuring that the lawnmower robot meets safety regulations.

[0068] Furthermore, such as Figure 3 and Figure 5 As shown, a crank fixing head 421 is provided at the second end of the transmission crank 42; a crank mounting groove 31 is provided on the protective plate 3; the crank fixing head 421 extends into the crank mounting groove 31; a guide groove 32 is also provided on the protective plate 3; a mounting fixing head 121 is provided on the peripheral housing 12; the mounting fixing head 121 extends into the guide groove 32.

[0069] In this embodiment, the crank fixing head 421 of the transmission crank 42 extends into the crank mounting groove 31 of the protective plate 3. When the transmission crank 42 rotates, the crank fixing head 421 can reciprocate linearly relative to the protective plate 3 along the crank mounting groove 31. Simultaneously, the mounting fixing head 121 on the peripheral housing 12 is connected to the guide groove 32 of the protective plate 3. When the protective plate 3 is raised or lowered, the mounting fixing head 121 can reciprocate along the guide groove 32. Through the cooperation between the crank fixing head 421 and the crank mounting groove 31, and the cooperation between the mounting fixing head 121 and the guide groove 32, the directional movement of the protective plate 3 can be achieved.

[0070] In some implementations of this application, such as Figures 3 to 5 As shown, the angle between the extension direction of the guide groove 32 and the second direction Y is greater than 0° and less than 90°.

[0071] In this embodiment, the crank mounting groove 31 and guide groove 32 are inclined so that the protective plate 3 can move up and down in the inclined direction, thereby improving the mutual interference between the protective plate 3 and the drive wheel 6. For details, see... Figures 3 to 5 The guide groove 32 is obliquely upward along the side closest to the drive wheel 6 and towards the direction away from the drive wheel 6, while the crank mounting groove 31 is obliquely downward along the side closest to the drive wheel 6 and towards the direction away from the drive wheel 6. In this way, the protective plate 3 can rise obliquely under the drive of the lifting mechanism 4, reducing interference between the protective plate 3 and the drive wheel 6 during lifting. The lifting height and direction of the protective plate 3 can be reasonably selected according to actual needs, as long as interference between the protective plate 3 and the drive wheel 6 is avoided during lifting.

[0072] In some implementations of this application, such as Figures 3 to 5 As shown, the protective plate 3 has a clearance notch 33 that conforms to the shape of the drive wheel 6 on the side near the drive wheel 6.

[0073] In this embodiment, the protective plate 3 is oriented in the same direction as the drive wheel 6 on the side closest to the drive wheel 6, so that the curvature of the clearance notch 33 is similar to that of the drive wheel 6, so as to avoid an excessive gap between the two, thereby preventing fingers from entering and touching the blade disc, and further improving the safety of the lawnmower robot during use.

[0074] In some implementations of this application, such as Figure 6 and Figure 7 As shown, Figure 6 A schematic diagram of the secondary blade lifting device of the lawnmower robot provided in this application; Figure 7 The structural diagram of the lifting screw of the secondary blade lifting device for the lawnmower robot provided in this application is not shown. The lawnmower robot also includes: a secondary blade lifting device 5; the secondary blade lifting device 5 includes: a mounting bracket 51 and a lifting module 52 mounted on the mounting bracket 51; the secondary blade cutting motor 221 of the secondary blade 22 is slidably connected to the mounting bracket 51 in the vertical direction; the lifting module 52 can drive the secondary blade 22 to rise and fall in the vertical direction.

[0075] In this embodiment, the secondary cutter head 22 can be raised and lowered under the drive of the secondary cutter head lifting device 5. Figure 6 and Figure 7 The secondary blade disc 22 and the secondary blade disc cutting motor 221 are mounted on the mounting bracket 51. Driven by the lifting module 52, the secondary blade disc cutting motor 221 and the secondary blade disc 22 can rise and fall vertically. In actual use, the secondary blade disc 22 and the protective plate 3 can rise and fall synchronously. That is, when the lawnmower needs to cut the edge of the lawn, the secondary blade disc 22 and the protective plate 3 are lowered synchronously so that the secondary blade disc 22 can cut the lawn, and the protective plate 3 can isolate the secondary blade disc 22 from the external environment. When the lawnmower does not need to cut the edge of the lawn, the secondary blade disc 22 and the protective plate 3 can be raised synchronously to reduce the use of the secondary blade disc 22 and thus improve its service life. The mounting bracket 51 can be installed on the bottom housing 11.

[0076] In this application, the main cutting head 21 is driven by a main cutting head motor, and the auxiliary cutting head 22 is driven by an auxiliary cutting head motor 221. Thus, the main cutting head 21 and the auxiliary cutting head 22 are driven independently, enabling independent control of both.

[0077] In some implementations of this application, such as Figure 6 and Figure 7 As shown, the mounting bracket 51 includes: a lifting guide rail 511 extending vertically; a secondary cutter head cutting motor 221 slidably connected to the lifting guide rail 511; the lifting module 52 includes: a lifting motor 521, a drive gear 522, a driven gear 523, and a lifting screw 524 extending vertically; the drive gear 522 and the driven gear 523 are mounted on the mounting bracket; the drive gear 522 and the driven gear 523 mesh with each other; the output shaft of the lifting motor 521 is coaxially and fixedly connected to the drive gear 522; the lifting screw 524 is coaxially and fixedly connected to the driven gear 523; a threaded transmission part 2211 is provided on the secondary cutter head cutting motor 221; the threaded transmission part 2211 is threadedly engaged with the lifting screw 524.

[0078] In this embodiment, a driving gear 522 and a driven gear 523, which mesh with each other, are provided on the mounting bracket 51. The axial directions of both the driving gear 522 and the driven gear 523 extend vertically. The output shaft of the lifting motor 521 is axially connected to the driving gear 522 to drive it to rotate. The driving gear 522, driven by the lifting motor 521, drives the driven gear 523 to rotate. The lifting screw 524 is coaxially connected to the driven gear 523 and can rotate axially under the drive of the driven gear 523. Figure 7 As shown, the secondary cutter head cutting motor 221 is equipped with a threaded transmission part 2211, and the threads on the periphery of the lifting screw 524 can mesh with the threaded transmission part 2211. In this way, when the lifting screw 524 rotates, the secondary cutter head cutting motor 221 can vertically rise and fall along the lifting guide rail 511 of the mounting bracket 51, thereby driving the secondary cutter head 22 to rise and fall synchronously.

[0079] Among them, such as Figure 6 and Figure 7 As shown, there are two lifting guide rails 511, located on both sides of the secondary cutter head cutting motor 221. The secondary cutter head cutting motor 221 has protrusions on both sides that mate with the groove structure of the lifting guide rails 511, allowing the secondary cutter head cutting motor 221 to connect with the lifting guide rails 511. The two opposing lifting guide rails 511 can clamp the secondary cutter head cutting motor 221, reducing the shaking of the secondary cutter head cutting motor 221 and the secondary cutter head 22 during the cutting process. Of course, only one lifting guide rail 511 can also be provided.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A lawnmower robot, characterized in that, include: The lawnmower body (1) has drive wheels (6) installed at the bottom of the lawnmower body (1). Main blade disc (21), the main blade disc (21) is hung on the bottom shell (11) of the lawnmower body (1), and the main blade disc (21) has a gap area between the edge of the projection of the bottom shell (11) and the edge of the bottom shell (11); The secondary blade disc (22) is mounted on the bottom housing (11) of the lawnmower body (1) and is located on at least one side of the main blade disc (21) along the first direction (X), which is horizontal and perpendicular to the second direction (Y) of the lawnmower robot's forward movement. A protective plate (3) is disposed on the side of the secondary cutter head (22) away from the main cutter head (21) along the first direction (X). The two ends of the protective plate (3) along the second direction (Y) extend beyond the two ends of the secondary cutter head (22) along the second direction (Y). The bottom of the protective plate (3) is lower than the bottom of the secondary cutter head (22), and the top of the protective plate (3) is higher than the top of the secondary cutter head (22).

2. The lawnmower robot according to claim 1, characterized in that, The lawnmower also includes: a lifting mechanism (4); One end of the lifting mechanism (4) is fixed to the peripheral housing (12) of the lawnmower body (1), and the other end is connected to the protective plate (3).

3. The lawnmower robot according to claim 2, characterized in that, The lifting mechanism (4) includes: a lifting motor (41) and a transmission crank (42). The lifting motor (41) is fixed to the peripheral housing (12), and the output shaft of the lifting motor (41) is fixedly connected to the first end of the transmission crank (42); the second end of the transmission crank (42) is connected to the protective plate (3). The second end of the transmission crank (42) can rotate around the first end under the drive of the lifting motor (41).

4. The lawnmower robot according to claim 3, characterized in that, The second end of the transmission crank (42) is provided with a crank fixing head (421); the protective plate (3) is provided with a crank mounting groove (31). The crank fixing head (421) extends into the crank mounting groove (31); The protective plate (3) is also provided with a guide groove (32); the peripheral housing (12) is provided with a mounting head (121); The mounting head (121) extends into the guide groove (32).

5. The lawnmower robot according to claim 4, characterized in that, The angle between the extension direction of the guide groove (32) and the second direction (Y) is greater than 0° and less than 90°.

6. The lawnmower robot according to any one of claims 1-5, characterized in that, The lawnmower robot also includes: a secondary blade lifting device (5); The auxiliary cutter head lifting device (5) includes: a mounting bracket (51) and a lifting module (52) mounted on the mounting bracket (51). The secondary cutter head (22) of the secondary cutter head (22) is slidably connected to the mounting bracket (51) in the vertical direction; The lifting module (52) can drive the secondary cutter head (22) to rise and fall in the vertical direction.

7. The lawnmower robot according to claim 6, characterized in that, The mounting bracket (51) includes: a lifting guide rail (511) extending in a vertical direction; the auxiliary blade cutting motor (221) is slidably connected to the lifting guide rail (511); The lifting module (52) includes: a lifting motor (521), a driving gear (522), a driven gear (523), and a lifting screw (524) extending in a vertical direction; the driving gear (522) and the driven gear (523) are mounted on the mounting bracket; the driving gear (522) and the driven gear (523) mesh with each other; the output shaft of the lifting motor (521) is coaxially and fixedly connected to the driving gear (522); the lifting screw (524) is coaxially and fixedly connected to the driven gear (523). The auxiliary blade cutting motor (221) is provided with a threaded transmission part (2211); the threaded transmission part (2211) is threadedly engaged with the lifting screw (524).

8. The lawnmower robot according to any one of claims 1-5, characterized in that, The gap between the main cutter head (21) and the secondary cutter head (22) along the first direction (X) is ≤5mm.

9. The lawnmower robot according to any one of claims 1-5, characterized in that, The protective plate (3) has a clearance notch (33) that is similar in shape to the drive wheel (6) on the side near the drive wheel (6).

10. The lawnmower robot according to any one of claims 1-5, characterized in that, The number of the secondary cutter discs (22) is two; The two auxiliary cutter discs (22) are respectively arranged on both sides of the main cutter disc (21) along the first direction (X).

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